Robotics, IoT, Web Software Developer

Austin, Texas

Hey! I've been working in robotics software for about 8 years.

I have a variety of interests I hope to showcase here in the future.

If you'd like to contact me, please do that via LinkedIn (see socials below).

My skills-building has been focused on learning whatever tools have been necessary in my roles - mostly robotics startups.

C++

I've been using C++ as my go-to language for most of my career.
I've used it for building multithreaded firmware, background tasking on embedded OS, LIDAR sensor nodes, CoAP servers, and more.

Python

Python has been my go-to for building web applications, testing tools, and data analysis.
My favorite packages are pydantic, typer, FastAPI, Django, ffmpeg, and SQLAlchemy.

ROS2

In 2023 I ran through the ROS2 tutorials.
I had extensive experience with the original ROS and wanted to catch up with the new developments.
The biggest differences I noticed was in having multiple nodes per process and the new launch system, and differences in middleware, which become interesting when integrating with PX4.

ROS

I have used ROS for a majority of my projects in robotics.
For those unfamiliar, it's considered middleware but it encompasses a lot of tools that are important for robotics work.
One example is the navigation stack that's fairly conventional in ROS.
I've professionally built nodes (including multi-robot global planners, lidar sensor nodes), services, messages, launch files, and tinkered extensively with the parameter system.

CI/CD

Designed and implemented Continuous Integration (CI) pipelines using tools like Docker, GitHub Actions, and Jenkins, significantly reducing pipeline execution times from hours to seconds.
Expertise in automating build, test, and deployment processes for software and firmware, enhancing development efficiency and product quality in drone and robotics projects.
Developed an internal testing web application, enabling rapid simulation of drone shows with hardware-in-the-loop, streamlining the testing phase and accelerating development cycles.

C was my main language for the first few years of my career.
I've used it for building firmware, drivers, and embedded systems.

Embedded Operating Systems

Deep expertise in configuring and deploying embedded operating systems such as NuttX, FreeRTOS, and RHEL on various hardware platforms, ensuring systems are optimized for performance and reliability.
Skilled in tailoring embedded OS environments to meet the specific needs of robotics and IoT applications, facilitating seamless integration of software and hardware components.

IoT Technologies

Designed and implemented IoT solutions using MQTT for messaging, CoAP for constrained environments, and integrated with AWS Lambda for scalable cloud processing, highlighting my ability to architect end-to-end IoT systems.
Experience in deploying Zigbee networks for device communication, emphasizing my capability to develop and manage low-power, high-efficiency IoT networks for smart devices.

Software Testing and Simulation

Proficient in software testing methodologies, including Hardware-In-the-Loop (HIL) and Software-In-the-Loop (SIL), using tools like pytest and Google Test to ensure software reliability and performance.
Developed simulation environments for drone and robotics projects, leveraging my technical skills to create realistic scenarios for thorough testing and validation before deployment.

PX4

My experience with PX4 has involved integrating it with ROS2 for advanced drone applications, highlighting my proficiency in both software and firmware aspects of UAV development.
I've managed to leverage PX4's capabilities for building internal drone testing tools.
Understanding PX4's architecture allowed me to contribute effectively to firmware development and testing, ensuring high reliability and performance in real-world applications.

Embedded Systems

Proficiency in developing and debugging firmware for a variety of embedded platforms, including STM32, NVIDIA, Qualcomm, and MSP430, showcasing versatility across different hardware.
Extensive experience in writing device drivers for SPI, I2C, LIDAR, NVMe, and more, ensuring seamless integration of hardware components in complex robotics and IoT projects.
Implemented strategies for ultra-low power IoT devices, achieving significant power savings while maintaining network synchronization and reliable message scheduling.

Object Detection and Tracking

Implemented advanced object detection and tracking algorithms in robot perception projects, utilizing OpenCV and custom techniques to enhance robotic vision capabilities.
Developed solutions for real-time tracking in dynamic environments, contributing to the autonomy and navigational precision of drones and autonomous vehicles in cluttered or complex scenarios.
Leveraged GStreamer for efficient video streaming and processing, integrating it with perception algorithms to improve system responsiveness and reliability.

Motion Planning

Designed and implemented grid-based multi-robot motion planners and utilized Timed Elastic Bands for dynamic path planning, addressing challenges in robot coordination and obstacle avoidance.
Applied PID controllers for precise motion control, fine-tuning robotic movements for optimal performance in varied operational contexts, including industrial automation and autonomous navigation.
Contributed to motion planning algorithms that significantly improved the efficiency and safety of robotic operations in warehouse settings, demonstrating innovative solutions to real-world problems.

Network Protocols

Expertise in implementing network protocols including IPv6, TCP/UDP, HTTP, and WebSockets, facilitating robust and efficient communication in distributed systems and web applications.
Skilled in optimizing network configurations for high-throughput and low-latency communications, critical for real-time robotics operations and data exchange.

Web Development and Cloud Services

Developed web applications using FastAPI and Django, integrating frontend technologies like React and backend databases through SQLAlchemy, showcasing my full-stack development capabilities.
Experience in deploying and managing applications on cloud platforms like Google Cloud, utilizing services such as gcloud and LetsEncrypt for secure and scalable web solutions.

Agile Development Practices

Practiced in Agile methodologies, utilizing tools like Git for version control and participating in AGILE sprint planning, emphasizing my adaptability and collaboration in fast-paced development environments.
Led teams of interns on projects with a focus on iterative development, continuous feedback, and incremental delivery, ensuring alignment with project goals and stakeholder expectations.

Django

I've used Django to build several web applications in Python.
It's a fairly heavy web framework, but it's great for building web applications quickly, so I prefer this over Flask.

FastAPI

I've used FastAPI only a couple times. I am no expert in it, but it's very easy to pick up anyway.
It's very useful for setting up back-end APIs if you'd like to build up microservices, but not to run an entire web application.
The developer, Sebastián Ramírez, has made it quite versatile (just like his other tools like Typer, which I also enjoy using).

OpenCV

I have used OpenCV in a couple projects for building object detection and tracking for robot perception.

Gazebo

Specialized in integrating Gazebo with ROS for comprehensive simulation and testing of robotic systems, establishing seamless communication between the simulation environment and middleware.
This setup enabled precise emulation of physical robots within a virtual space, allowing for extensive pre-deployment testing and optimization of robotic behaviors and algorithms.

Qemu

Gained practical experience with Qemu, utilizing its system emulation mode as a versatile testing tool for embedded systems development.
This work involved creating virtual environments that closely mimic the target hardware, enabling a more efficient and streamlined testing process for firmware and software without the need for physical prototypes.

Bash

Proficient in leveraging Bash for a wide range of development and system administration tasks, including network management with nmcli, automating services with systemd, and scheduling tasks with cron and init scripts.
I've also set up X forwarding for remote GUI applications and built snaps for secure, self-contained application packages, showcasing my capability to optimize and manage Linux environments for various project needs.

SQL

My study in database design and management encompasses SQL, normalization, and constructing complex queries, forming a solid foundation in handling and analyzing large datasets.
While proficient in direct database manipulation, I have a preference for utilizing ORMs provided by development frameworks, such as Django and SQLAlchemy, to streamline data operations within application development.

Skills

Leveraging Robotics Algorithms: ROS, PX4, Kalman Filters, probabilistic robotics, amcl, Cartographer, multi-robot, mapping, Object Detection, GStreamer.

Working on Embedded Platforms: STM32, NVIDIA Jetson, NuttX, FreeRTOS.

Connecting to Networks: MQTT, CoAP, REST, AWS Lambda, IPv6, HTTP, WebSockets.

Accelerating Software Releases: CI, HIL, SIL, Docker, Github Actions, pytest, Google Test.

Tooling with Web + Full Stack: FastAPI, Django, React, SQLAlchemy, gcloud.

Using the Best Languages/Tools: C++, Python, Bash, C, Linux Services + Networking, Git, AGILE.

Experience

Cultural Immersion and Language Study Project, The Netherlands

OCTOBER 2023 – DECEMBER 2023

Learned Dutch to a conversational proficiency by dedicating hours daily over several months. Traveled to the Netherlands for 4 weeks, fully immersing in the culture and practicing language skills with local relatives and residents.

Professional Development Sabbatical, Austin

JULY 2023 – PRESENT

Advanced my expertise in robotics through a review of the latest developments and review of Kalman filters, control theory, algorithms, and frameworks like qemu, ROS2. Developed a web application for personal trainers, leveraging skills that may be useful for robotics data mining and building internal web tools.

Verge Aero, Austin/Remote– Drone Software Developer for Drone Shows

JULY 2022 – JUNE 2023

Developed Release Strategy. Built CI. Created Tools. Simplified Firmware.

Ascendant Engineering Solutions, Austin– Embedded Software Engineer for Drones

MARCH 2020 – JULY 2022

Developed IoT and Robotics Firmware.

SIERA.AI, Austin– Robot Application Software Engineer for Forklifts and Warehouse Robots

JUNE 2019 – MARCH 2020

Global planning, multi-robot traffic management, robotics localization and control, driver development, performed deployments.

Draper (Labs), Cambridge, MA – Embedded Software Engineer II for Drones and Robo-Parachutes

JUNE 2016- JUNE 2019

Led a team of interns and a senior UI engineer through two projects in developing drone mission control GUIs. Managed software testing strategy on a team of 5 for a drone project including live demonstrations for government officials. Implemented CI as continuous testing in 3 robotics projects. Integrated hardware-in-the-loop flight simulations based on logs collected from flights.

Education

Northeastern University, Boston – M.S. Computer Science – August 2019

Worcester Polytechnic Institute, Worcester – B.S. Electrical and Computer Engineering – May 2016

I founded the Art and Design Club, developed accessibility wearables, and served as PR Chair to market events for the IEEE student branch.

Feedback From Managers

See Linkedin for actual quotes.

Alex is a hard working individual with a lot of patience to solve tough engineering problems. He has a particularly well structured approach to analysis and coming up detailed solutions ground up. I was always amazed by his wizardry on bash scripting! He did a great job at [Company Name], all of us really enjoyed working with him. – Former Manager

Alex has extensive knowledge software for embedded applications, including low-level communication interface drivers and protocols including I2C, RS485, RS232, and more. He came up to speed quickly on multiple targets/ development environments and navigated existing code bases with ease. Alex has a strong work ethic and great communication skills, is an overall pleasure to work with!

Interests

Weightlifting, Language-Learning, Hanging Out at Cafes, Watercolor + Sketching.

Certified in FAA Small UAV, OSHA Forklift, OSHA 10-hour, Texas Boater Education.

More keywords...

ROS, ROS2, OpenCL, OpenGL, C++, PX4, Gazebo, Qemu, Robot Localization through EKF / MSCKF, SLAM, AMCL, Google Cartographer, Creating Global and Local Planning algorithms, Motion Capture Systems, Algorithms (Sorting, Searching, Graphs, Geometrics, C++ std ), uncrustify, Git + Gitlab + Github, Agile, Atlassian Suite (BitBucket, Confluence, Jira), Slack (including webhooks), SVN, redmine, SmartBear, MagicDraw, pydantic, typer (python CLIs), google-cloud-storage, Django, NextJS, Flask, Apache, Common Gateway Interface, AngularJS, Bootstrap, HTML5, Canvas, p5.js, STM32CubeIDE, Qt GUIs, MATLAB, MySQL, postgreSQL, sqlite3, redis, Google Cloud Storage, mongo.db, EEPROM, GPS Drivers, IoT Devices, Signal Processing and Digital Filtering, RS485, I2C, SPI, Modbus, TCP, CAN, Itron, MQTT, CoAP, UDP/TCP over IP, STM32, Atmel, Qualcomm Snapdragon, MSP430, NVIDIA Jetson TX2, Raspberry Pi, Cyclone II FPGA, gdb, valgrind, qemu, CI, Embedded Systems, C++, C, Python, Creating linux, systemd services, VNC,, crons, network proxies, nmcli,, fstab, setup,, FreeRTOS, NuttX, Linaro, BusyBox, RHEL, PuTTY, Toolchain tools (gcc, ar, ld, nm), Ubuntu Snaps, dpkg, tar, Google Test, unittest, robot_framework, pytest, cpplint, log-based simulations airsim for testing

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